Projector for active stereo depth sensors

ABSTRACT

Systems, devices, and techniques related to projecting dynamic feature patterns onto a scene for use in stereoscopic imaging are discussed. Such techniques may include implementing a dynamic transmissive element in an optical path between a projector and the scene to modify a static pattern emitted from the projector to illuminate the scene with a dynamic pattern.

BACKGROUND

In computer vision and other imaging and computing contexts, depthimages are generated based on two (e.g., left and right or reference andtarget) captured images of a scene. In particular, in a stereo-depthcamera, depth is determined primarily from solving the correspondenceproblem between left and right images of a scene, determining thedisparity for each pixel (i.e., a shift between object points in theleft and right images), and calculating the depth map from disparityusing triangulation techniques.

In active stereo vision, an infrared (IR) pattern is projected onto ascene such that the images obtained during exposure include the IRpattern as modified by the scene. Such techniques may be advantageouswhen the scene itself does not include a lot of texture (e.g., for blankwhite walls or similar scene elements). The obtained images includingthe IR texture are then used to generate a depth image usingstereoscopic image matching techniques based in part on the features ofthe modified IR pattern. Such depth image(s) are used in a wide varietyof computer vision and image processing contexts.

Current IR patterns and projectors have shortcomings with respect to theresultant stereoscopic matching and depth image results. It is withrespect to these and other considerations that the present improvementshave been needed. Such improvements may become critical as the desire toutilize depth images in a variety of applications becomes morewidespread.

BRIEF DESCRIPTION OF THE DRAWINGS

The material described herein is illustrated by way of example and notby way of limitation in the accompanying figures. For simplicity andclarity of illustration, elements illustrated in the figures are notnecessarily drawn to scale. For example, the dimensions of some elementsmay be exaggerated relative to other elements for clarity. Further,where considered appropriate, reference labels have been repeated amongthe figures to indicate corresponding or analogous elements. In thefigures:

FIG. 1 is a diagram of components of an example system for providingactive stereo vision;

FIG. 2 illustrates an example device for providing active stereo vision;

FIG. 3 illustrates an example stereoscopic image matching;

FIG. 4 is a diagram of an example IR projection system for use in activestereo vision;

FIG. 5 illustrates a depiction of an example image with a static IRpattern;

FIG. 6 illustrates a depiction of an example image portion with a staticIR pattern;

FIG. 7 illustrates exemplary radiation shifts for an exemplary lenswedge portion or prism;

FIG. 8 is a diagram of an example IR projection system with a wedgeportion off axis with respect to a centerline of an IR pattern;

FIG. 9 is a diagram of an example IR projection system with multiplewedge portions across the IR pattern;

FIG. 10 is a diagram of an example IR lens having sections withdiffering characteristics;

FIG. 11 is an example timing diagram for temporal IR pattern adjustmentduring image capture;

FIG. 12 is another example timing diagram for temporal IR patternadjustment during image capture;

FIG. 13 illustrates exemplary temporally modified IR patterns fordifferent image capture instances;

FIG. 14 illustrates exemplary temporally modified IR patterns fordifferent image capture instances;

FIG. 15 illustrates exemplary temporally modified IR patterns fordifferent image capture instances;

FIG. 16 illustrates exemplary temporally modified IR patterns fordifferent image capture instances;

FIG. 17 is a diagram of an example IR projection system with an IR lenshaving sections with differing characteristics moved laterally in an IRpath;

FIG. 18 is a diagram of an example IR projection system implementing adynamic transmissive IR element;

FIG. 19 is a flow diagram illustrating an example process for performingstereoscopic imaging;

FIG. 20 is an illustrative diagram of an example system for performingstereoscopic imaging;

FIG. 21 is an illustrative diagram of an example system; and

FIG. 22 illustrates an example small form factor device, all arranged inaccordance with at least some implementations of the present disclosure.

DETAILED DESCRIPTION

One or more embodiments or implementations are now described withreference to the enclosed figures. While specific configurations andarrangements are discussed, it should be understood that this is donefor illustrative purposes only. Persons skilled in the relevant art willrecognize that other configurations and arrangements may be employedwithout departing from the spirit and scope of the description. It willbe apparent to those skilled in the relevant art that techniques and/orarrangements described herein may also be employed in a variety of othersystems and applications other than what is described herein.

While the following description sets forth various implementations thatmay be manifested in architectures such as system-on-a-chip (SoC)architectures for example, implementation of the techniques and/orarrangements described herein are not restricted to particulararchitectures and/or computing systems and may be implemented by anyarchitecture and/or computing system for similar purposes. For instance,various architectures employing, for example, multiple integratedcircuit (IC) chips and/or packages, and/or various computing devicesand/or consumer electronic (CE) devices such as set top boxes, smartphones, etc., may implement the techniques and/or arrangements describedherein. Further, while the following description may set forth numerousspecific details such as logic implementations, types andinterrelationships of system components, logic partitioning/integrationchoices, etc., claimed subject matter may be practiced without suchspecific details. In other instances, some material such as, forexample, control structures and full software instruction sequences, maynot be shown in detail in order not to obscure the material disclosedherein.

The material disclosed herein may be implemented in hardware, firmware,software, or any combination thereof. The material disclosed herein mayalso be implemented as instructions stored on a machine-readable medium,which may be read and executed by one or more processors. Amachine-readable medium may include any medium and/or mechanism forstoring or transmitting information in a form readable by a machine(e.g., a computing device). For example, a machine-readable medium mayinclude read only memory (ROM); random access memory (RAM); magneticdisk storage media; optical storage media; flash memory devices;electrical, optical, acoustical or other forms of propagated signals(e.g., carrier waves, infrared signals, digital signals, etc.), andothers.

References in the specification to “one implementation”, “animplementation”, “an example implementation”, or such embodiments, orexamples, etc., indicate that the implementation, embodiment, or exampledescribed may include a particular feature, structure, orcharacteristic, but every implementation, embodiment, or example may notnecessarily include the particular feature, structure, orcharacteristic. Moreover, such phrases are not necessarily referring tothe same implementation. Furthermore, when a particular feature,structure, or characteristic is described in connection with anembodiment, it is submitted that it is within the knowledge of oneskilled in the art to affect such feature, structure, or characteristicin connection with other implementations whether or not explicitlydescribed herein. The terms “substantially,” “close,” “approximately,”“near,” and “about,” generally refer to being within +/−1% of a targetvalue.

Methods, devices, apparatuses, computing platforms, and articles aredescribed herein related to projection of a temporally variant patternonto a scene for active stereoscopy.

As described above, in some contexts, depth images are generated usingtwo (e.g., left and right or reference and target) two-dimensional colorimages of a scene such that an infrared (IR) pattern, visible lightpattern, or both an IR and visible light pattern has been projected ontothe scene during image capture. Such a pattern (e.g., a texture pattern)provides pattern residuals in the captured image such that the patternis captured during image capture. The resultant captured imagesincluding the pattern improve stereoscopic image matching, particularlywhen the scene would not otherwise contain texture details for thematching. In embodiments discussed herein, a dynamic transmissiveelement such as a moveable lens, a solid state beam deflector, or aliquid crystal display (LCD) device is provided within an optical pathbetween an IR projector and a scene to be illuminated by the pattern.The dynamic transmissive element either between image capture, duringimage capture, or both provides for movement of features (e.g., dots) ofthe pattern emitted from the projector. Such feature movement providesimproved stereo matching in the context of a single instance of imagecapture or in the context of multiple image captures over time.

Thereby, the projector and dynamic transmissive element collectivelyprovide for a high quality projection system that, among otherattributes, is small and optically efficient to reduce power consumptionand improve product integration, has a dense semi-random pattern, hashigh contrast, is dynamic such that residual depth to patterndependencies in the stereo algorithm are averaged out, has little or nospeckle, has programmable dot density, has the ability to redistributepower, provides grey scale, and has a texture that is scale invariantsuch that the pattern reveals structures at different ranges within ascene.

FIG. 1 is a diagram of components of an example system 100 for providingactive stereo vision, arranged in accordance with at least someimplementations of the present disclosure. As shown in FIG. 1, system100 includes a stereo matching module 102, a controller 103 (e.g., adynamic transmissive IR element controller), a left camera 104, a rightcamera 105, an IR projector 106, and a dynamic transmissive IR element101. System 100 may also include a memory, a display, a computer visionmodule, etc. Also as shown, IR projector 106 projects an IR pattern 107(the details of which are discussed below) toward a scene 121. As usedherein, the term IR pattern indicates any pattern of IR features to bespatially projected. A static IR pattern indicates the IR pattern doesnot vary over time. Dynamic transmissive IR element 101 is in an IR path109 between IR projector 106 and scene 121. As used herein, the term IRpath indicates a path containing IR radiation emitted from IR projector106 prior to the IR radiation illuminating scene 121. In someembodiments, IR path 109 is a direct IR path between IR projector 106and scene 121 such that no other active elements (e.g., elements capableof varying the temporal nature of the IR radiation) operate on the IRradiation between IR projector 106 and scene 121. In some embodiments,IR path 109 is a direct linear IR path between IR projector 106 andscene 121 such that no other active elements operate on the IR radiationbetween IR projector 106 and scene 121 and such that dynamictransmissive IR element 101 is along a line between IR projector 106 andscene 121.

Although discussed herein with respect to IR projector 106, IRradiation, IR pattern 107, and so on, such that the discussedillumination has a wavelength longer than those of visible light (i.e.,IR radiation) for the sake of clarity of presentation, in someembodiments the radiation may be visible radiation or a combination ofvisible light and IR radiation. Therefore, the terms projector, pattern,lens, etc. refer to those components either generating, including,operating on, etc. IR radiation or visible light or a combination of IRradiation and visible light, whereas when those terms are preceded by orotherwise modified by the term IR, they refer to those componentsgenerating, including, operating on, etc. IR radiation only. As usedherein, the term IR refers to any radiation having wavelength(s) longerthan those of visible light. For example, a projector may produce eitherIR radiation or visible light or both while an IR projector producesonly IR radiation. Furthermore, the term optical path or optical ingeneral is not limited to visible light and may be a path for IRradiation, visible light, or both, whereas the term IR path is a pathfor IR radiation.

As indicated above, the term IR is typically used herein for the sake ofclarity and for discussion of some embodiments and applications, but itis not meant to be limiting. For example, elements discussed withrespect to IR are not limited to IR and may instead be implemented usingvisible light or a combination of visible light and IR. Notably, IR maybe preferred in contexts when visible light would be distracting tohumans while other applications such as enclosed spaces, automation,robotics application, etc. may allow for visible light based projection.

Dynamic transmissive IR element 101, under the control of controller 103via control signals 113, temporally modifies IR pattern 107 to generatea temporally modified IR pattern 108. In an embodiment, IR pattern 107is a static IR pattern such that, if illuminated onto scene 121 withouttemporal adjustment via dynamic transmissive IR element 101, no changein the pattern projected onto scene 121 over time would be made(although, of course, scene 121 could change). IR projector 106 may beany suitable IR projector such as a vertical-cavity surface-emittinglaser (VCSEL) based projector that uses a lens to re-project thousands(for example) of vertical emitting lasers arrayed onto a chip, a singlelaser transmitted through a diffractive element), etc. Furthermore, IRpattern 107 may be any suitable IR pattern having any suitable featuressuch as dots and lines and patterns thereof. As discussed furtherherein, IR pattern 107 is temporally adjusted via dynamic transmissiveIR element 101 to generate temporally modified IR pattern 108 forimproved stereoscopic matching.

Left camera 104 and right camera 105 may be any suitable camera orcamera array modules each including, for example, an image sensor thatconveys the data or information of an image by converting light intosignals or signal values. As shown, left camera 104 and right camera 105generate left image 111 and right image 112, respectively. For example,left and right cameras 104 may be RGB cameras, cameras outputting inother color spaces, monochrome cameras, black and white cameras, IRcameras, etc. Left image 111 and right image 112 are attainedsubstantially simultaneously to provide left and right views of scene121. Left image 111 and right image 112 are provided to stereo matchingmodule 102, which uses left image 111 and right image 112 to generate adepth map 115 (or disparity map) based on stereo vision techniques.

System 100 or any combination of components thereof may be implementedvia any suitable device such as a depth sensor, a depth sensor module,or the like. Although discussed herein with respect to implementationvia a depth sensor module, system 100 may be implemented in any othersuitable imaging device such as a personal computer, a laptop computer,a tablet, a phablet, a smart phone, a digital camera, a gaming console,a wearable device, a set top device, or the like.

FIG. 2 illustrates an example device 200 for providing active stereovision, arranged in accordance with at least some implementations of thepresent disclosure. As shown in FIG. 2, device 200 includes left camera104, right camera 105, an IR projection system 207 (i.e., including IRprojector 106 and any dynamic transmissive IR element 101 discussedherein), and a motherboard 201 to implement, within a housing 206 ofdevice 200, stereo matching module 102, a memory 202, an image signalprocessor (ISP) 203, and a computer vision module 205. Also as shown,device 200 may include a display port 207 to transmit image data forpresentment to a user via display 109, which may be implemented as anintegrated component of device 200 or separately from device 200.

With reference to FIGS. 1 and 2, stereo matching module 102 generatesdepth map 115 or a disparity map using left image 111 and right image112, which include temporally modified IR pattern 108 as modified byscene 121. Left image 111 and right image 112 include an IR texture orpattern and may include red-green-blue (RGB) image data, YUV image data,YCbCR image data, black and white image data, luma only image data,monochrome image data, etc. Stereo matching module 102 may generatedepth map 115 based on a search of a target image (i.e., right image112) based on a window generated around a pixel location in a reference(i.e., left image 111) image and, optionally, other techniques such astemporal tracking, etc. In some embodiments, left camera 104 and rightcamera 105 are substantially horizontally aligned with respect to scene121.

FIG. 3 illustrates an example stereoscopic image matching 300, arrangedin accordance with at least some implementations of the presentdisclosure. As shown in FIG. 3, stereoscopic image matching 300 mayinclude attaining left image 111 and right image 112 of scene 121, whichmay include an example surface 310. Stereo matching techniques determinea depth for disparity image based on triangulating correspondences. Forexample, as shown in FIG. 3, given left and right images 111, 112, eachincluding a representation of three-dimensional point x on surface 310,the depth, d, of x, may be determined based on d=f*b/disp, where f and bare the focal length and base line, respectively, and disp, is thedisparity for x, indicating the pixel displacement of x left and rightimages 111, 112 (e.g., x_(L)−x_(R), where x_(L), and x_(R) are theprojections of x onto left and right images with IR features,respectively). To determine the disparity, a rectangular template orwindow may be formed around x_(L) in left image 111 and horizontalsearch windows in right image 112 are searched horizontally for the bestmatch (or vice versa). Such processing is repeated for all or somepixels of left and right images 111, 112 to generate depth map 115.

Referring again to FIG. 1, during the illumination of temporallymodified IR pattern 108 onto scene 121, left camera 104 and right camera105 attain left image 111 and right image 112. As discussed, it isadvantageous to temporally modify IR pattern 107 as emitted by IRprojector 106 using dynamic transmissive IR element 101. Dynamictransmissive IR element 101 may include any suitable element that maytemporally modify IR pattern 107 such as an IR lens having a wedgeportion, an IR lens having multiple wedge portions and/or planarportions, a solid state beam deflector, a liquid crystal display device,an elastomer, or an array of 2D mirrors.

FIG. 4 is a diagram of an example IR projection system 400 for use inactive stereo vision, arranged in accordance with at least someimplementations of the present disclosure. As shown in FIG. 4, IRprojection system 400 includes IR projector 106 and an IR lens 401. Asused herein, the term IR lens indicates a lens transmissive to IRradiation that may include one or more shaped portions or regions tomanipulate features of IR pattern 107. Notably, as discussed, IR pattern107 from IR projector 106 may be a static pattern without use of adynamic transmissive IR element 101 as discussed herein.

FIG. 5 illustrates a depiction of an example image 500 with a static IRpattern, arranged in accordance with at least some implementations ofthe present disclosure. For example, image 500 illustrates an exampleimage that may be attained by applying IR pattern 107 onto a scene.Although illustrated with respect to a repetitive grid like IR patternof IR features 501 that are dots for the sake of clarity ofpresentation, as discussed, IR pattern 107 may be any suitable patternof IR features 501. As shown in FIG. 5, image 500 includes IR features501 (i.e., white dots in the illustration) from IR pattern 107 beingprojected on scene 121. Scene 121 may include any suitable scene. In theillustrated embodiment, scene 121 includes a foreground object 503(e.g., a table) and a background 502. For example, IR pattern 107 mayinclude thousands of IR dots or other IR features.

FIG. 6 illustrates a depiction of an example image portion 601 with astatic IR pattern 603, arranged in accordance with at least someimplementations of the present disclosure. As with FIG. 5, image portion601 includes (static) IR pattern 603. FIG. 6 illustrates that IR pattern603 may deviate from a repetitive pattern and may include IR features602 that are spatially sporadic or scattered across image portion 601.IR pattern 107 emitted from IR projector 106 may include repetitivepatterns, sporadic portions, or both as well as IR dots (asillustrated), IR line segments, or other static IR patterns, which aretermed features or IR features herein. In the following illustrations,static IR pattern 603 is used as a baseline for the discussion ofexemplary temporally modified IR patterns 108 for the sake of clarity ofpresentation.

Returning to FIG. 4, IR projection system 400 includes IR projector 106and IR lens 401. IR lens 401 includes a wedge portion 405 and IR lens401 is moveably mounted such that wedge portion 405 is moveable withinIR path 109. As used herein, the term wedge portion indicates a portionof a lens or an entirety of the lens having a wedge shape with onesurface having an angle with respect to the opposite surface. Theopposing surfaces may both be flat or slightly curved. The wedge angletherebetween may be any suitable angle that provides non-planaritybetween the opposing surfaces and deflection of IR pattern elements asdiscussed herein. In the example of FIG. 4, IR lens 401 is a disc andwedge portion 405 extends across an entirety of disc from one edge to anopposite edge thereof. For example, IR lens 401 may be a uniform wedgeprism. However, IR lens may have any cross-sectional shape (e.g.,square, oval, etc.) instead of circular and wedge portion 405 may extendacross only a portion thereof. As shown, wedge portion 405 of IR lens401 has first flat surface 413 and a second flat surface 414 oppositefirst flat surface 413 such that there is a wedge angle therebetween. IRlens 401 may include any material or materials transmissive of the IRradiation of IR pattern 107 such as glass, plastic, etc. Althoughillustrated and discussed with respect to first flat surface 413 andsecond flat surface 414, in some embodiments, surface 414 is curved asdiscussed herein with respect to wedge portion 1005 of FIG. 10.

FIG. 7 illustrates exemplary radiation shifts for an exemplary lenswedge portion or prism, arranged in accordance with at least someimplementations of the present disclosure. As shown in FIG. 7, for awedge angle, α, of a wedge portion 705 having a first flat surface 713orthogonal to a z-direction (e.g., toward a scene) and a second flatsurface 714 offset with respect to the z-direction in analogy to otherwedge portions discussed herein such as wedge portion 405, a particularIR feature 701 will be shifted by wedge portion 705 (e.g., an IR lenswedge or optical wedge) according to Snell's law as provided by Equation(1):

$\begin{matrix}{{\delta \approx {\theta_{0} - \alpha + \left( {n\left\lbrack {\alpha - {\frac{1}{n}\theta_{0}}} \right\rbrack} \right)}} = {{\theta_{0} - \alpha + {n\;\alpha} - \theta_{0}} = {\left( {n - 1} \right)\alpha}}} & (1)\end{matrix}$where δ is the deflection angle of IR feature 701, θ₀ is the incomingradiation angle with respect to normal, n is the index of refraction,and α is the wedge angle as shown in FIG. 7. For a glass prism in air, nis about 1.5 such that the deflection angle, δ, is about half of thewedge angle, α.

Returning to FIG. 4, in the embodiment of FIG. 4, wedge portion 405extends across an entirety of IR path 109 such that the entirety of IRpath 109 is effected by wedge portion 405. In other embodiments, only aportion of IR path 109 may be intersected by wedge portion 405. Asshown, when IR projector 106 is directed toward a scene in thez-direction such that a center of IR pattern 107 is along a centerline403 aligned with the z-direction, first flat surface 413 issubstantially orthogonal to the z-direction and first flat surface 413is parallel with respect to an x-y plane while second flat surface 414is offset with respect to the x-y plane by the wedge angle, α. In anembodiment, the wedge angle, α, is not less than 0.1 degrees. In anembodiment, the wedge angle, α, is not less than 0.2 degrees. In anembodiment, the wedge angle, α, is not less than 0.25 degrees. In anembodiment, the wedge angle, α, is not less than 0.5 degrees. In anembodiment, the wedge angle, α, is not less than 1 degree. In anembodiment, the wedge angle, α, is not less than 2 degrees. In someembodiments, the wedge angle, α, is about 0.5 degrees, 1 degree, or 2degrees. Any wedge portion discussed may have such wedge anglecharacteristics. In the illustrated embodiment, the flat surface alignedwith the x-y plane is proximal to IR projector 106. In otherembodiments, the flat surface aligned with the x-y plane is opposite IRprojector 106. Notably, centerline 403 is along a centerline of IRpattern 107, IR projector 106, and scene 121.

As shown, in an embodiment, IR lens 401 is mounted to an axis 411 thatis substantially along centerline 403 and is controlled via a motor 412to rotate in a rotational direction 415 about axis 411. For example,controller 103 (please refer to FIG. 1) may provide a signal to motor412 to rotate IR lens 401. Notably, axis 411 may be mounted to and/orextend through a center point 402 of IR lens 401. As shown, the faces(i.e., first flat surface 413 and second flat surface 414) of wedgeportion 405 of IR lens are slightly tilted with respect to each othersuch that the thickness of wedge portion 405 varies linearly in onedimension (e.g., a dimension in the x-y plane) and wedge portion 405 isrotated about axis 411. The illustrated arrangement provides, for IRfeatures in temporally modified IR pattern 108, the feature (e.g., an IRspot) projected through wedge portion 405 to trace a circular path intemporally modified IR pattern such that the circular path has a radiusthat is about half the wedge angle, α. For example, rotation of IR lens401 during image capture exposure via left camera 104 and right camera105 provides for IR features of IR pattern 107 to trace a circular path(e.g., an arc or portion of a circle or an entire circle depending onrotation speed and image capture duration) to aid in eventualstereoscopic matching. It is noted that herein, image capture refers tothe capture of two (e.g., left and right) or more images simultaneouslyfor the sake of stereoscopic computer vision. Similarly, video capturerefers to the simultaneous capture of two or more video images at eachtime instance.

FIG. 8 is a diagram of an example IR projection system 800 with a wedgeportion off axis with respect to a centerline of an IR pattern, arrangedin accordance with at least some implementations of the presentdisclosure. As shown in FIG. 8, IR projection system 800 is similar IRprojection system 400 with the exception that axis 411 is offset withrespect to center line 403 of IR pattern 107. In the illustratedembodiment, axis 411 is outside of IR path 109. In other embodiments,axis 411 is within IR path 109 and offset with respect to center line403. Axis 411 may be offset with respect to center line 403 in thex-direction, the y-direction, or both. Notably, an offset of axis 411with respect to center line 403 may cause a wobble or otherdiscontinuity in the path traced by an IR feature in temporally modifiedIR pattern 108 during image capture.

FIG. 9 is a diagram of an example IR projection system 900 with multiplewedge portions across the IR pattern, arranged in accordance with atleast some implementations of the present disclosure. As shown in FIG.9, IR projection system 900 is similar to IR projection system 400 withthe exception that IR projection system 900 includes a second IR lens901 having a second wedge portion 905 mounted to axis 411 and having asecond motor 902 for control, independent of motor 412, thereof. SecondIR lens 901 and second wedge portion 905 may have any characteristics,orientations, etc. as discussed with respect to IR lens 401 and wedgeportion 405. As shown, in an embodiment, IR lens 401 and second IR lens901 are independently controllable via motors 412, 902, respectively.For example, controller 103 may provide signals to independently controlmotors 412, 902. Notably, use of two or more wedge portions 405, 905having independently controlled rotation rates provides for anyarbitrary pattern within a predefined radius according to the wedgeangles α1 and α2 of wedge portions 405, 905, respectively. For example,the rotation of two or more wedge portions 405, 905 may be controlled inany manner to produce a variety of patterns during image capture vialeft and right cameras 104, 105. The wedge angles α1 and α2 of wedgeportions 405, 905 may be the same (e.g., α1=α2) or they may bedifferent.

FIG. 10 is a diagram of an example IR lens 1000 having sections withdiffering characteristics, arranged in accordance with at least someimplementations of the present disclosure. As shown in FIG. 10, IR lens1000 includes sections 1001-1008 that may each have differingcharacteristics. In some embodiments, IR lens 1000 may be implemented inIR projection system 800 in place of IR lens 401 such that IR path 109fits within one of sections of IR lens 1000. For example, at aparticular time instance, only one of sections 1001-1008 may be withinIR path 109. In other embodiments, IR lens 1000 may be implemented inplace of IR lens 401 in IR projection system 400 or in place of one orboth of IR lens 401 and IR lens 901 in IR projection system 900.Notably, IR lens 1000, as implemented via an optical disc provides fordifferent effects in IR features of temporally modified IR pattern 108.For example, each of sections 1001-1008 may have a different wedge angleor gradation from one angle to another. In implementation, the rotationspeed of IR lens 1000 is adjusted to be faster than the optical exposureand frame rate, or slower, resulting in different behavior duringexposure as discussed further herein.

In the illustrated embodiment, IR lens 1000 is divided into eightsections 1001-1008. However, IR lens 1000 may include any number ofsections such as two, three, four, more than eight, etc. Furthermore, inthe illustrated embodiment, each of sections 1001-1008 extends from acenter 1010 of IR lens 1000 to or toward an outer edge 1011 of IR lens1011. In other embodiments, IR lens 1000 has multiple sections betweencenter 1010 and outer edge 1011 as illustrated with respect to divisioncircle 1010. In IR lens 1000, each section boundary indicates sectionsof IR lens have differing characteristics. However, it is noted thatsome section types may be repeated within IR lens 1000.

Each of sections 1001-1008 may have any suitable characteristics in anycombination, as discussed in particular with respect to example sections1001-1005. Notably, the sections may be placed in any order and mayinclude any characteristics such that at least one characteristicdiffers with respect to the neighboring sections. For example, a sectionmay have one or more characteristics that differ with respect to itsneighboring sections. In an embodiment, a characteristic of sections1001-1008 that may differ is the material of the section itself. Forexample, the material choice between sections may vary the indices ofrefraction thereof. In an embodiment, one or more of sections 1001-1008are glass, fused quartz, polycarbonate, or sapphire in any combination.

As shown with respect to sections 1001-1003, in some embodiments, one ormore sections include wedge portions of differing wedge angles, α,and/or directions, d, thereof. For example, one or more of sections1001-1008 may be wedge portions having a flat top surface 1021 and aflat bottom surface 1022 (opposite flat top surface 1021) and a wedgeangle, α, therebetween, which may be any wedge angle discussed herein.The terms top and bottom are used for convenience and either surface maybe toward or away from IR projector 106 and/or not all bottom nor topsurfaces need to be on the same side of IR lens 1000. That is, thewedges may all face the same way or they may face different directions.Notably, the wedge angle may change between some or all of sections1001-1003. Furthermore, the wedge angle may be in any suitabledirection, d, with respect to IR lens 1000 such as a positive radialdirection 1041 (i.e., the wedge is thinner near center 1010 and thickertoward edge 1011), a negative radial direction (i.e., the wedge isthicker near center 1010 and thinner toward edge 1011), a positivetangential direction 1042 (i.e., the wedge becomes thicker moving in aclockwise direction around IR lens 1000), a negative tangentialdirection (i.e., the wedge becomes thinner moving in a clockwisedirection around IR lens 1000), or any angle therebetween.

Notably, between adjacent ones of sections 1001-1008 it may beadvantageous to have opposing wedge directions such that the resultantIR features jump between positions as the sections move into and out ofIR path 109. For example, as shown with respect to IR feature moves1031, the variation between wedge angles, wedge directions, or bothcauses IR features to jump in position between an instance when section1001 is in the IR path of the feature (e.g., acting on the feature) andan instance when another section (e.g., section 1008) is in the IR pathof the feature (e.g., acting on the feature). Thereby, by havingdiffering ones of sections 1001-1008 in IR path 109 or in differentparts of IR path 109 over time, the IR features of temporally modifiedIR pattern 108 move over time. It is noted that such IR feature jumpsmay also be accomplished when changing from a planar portion (e.g.,section 1004 as discussed below) and a wedge portion.

As shown with respect to section 1002 and section 1001, adjacentsections may have wedge angles of opposing directions and the same ordifferent wedge angles. For example, section 1002 may have a wedge anglein either positive radial direction 1041 or positive tangentialdirection 1042 and section 1001 may have a wedge angle in negativeradial direction or negative tangential direction 1042, or vice versa.As shown with respect to IR feature moves 1032, the variation betweenwedge directions then causes IR features to jump in position in theopposite direction. As shown with respect to section 1003, when adjacentsections have wedge angles of opposing directions but the difference inwedge angle is not as significant, IR feature moves 1033 of the samedirection but lesser magnitude with respect to those of IR feature moves1032 are provided.

As discussed, section 1004 may be a planar portion having a flat topsurface 1023 and a flat bottom surface 1024 (opposite flat top surface1022) that are substantially planar with respect to one another. Such aplanar portion may provide no change to IR features and may be used as abaseline or a return to baseline with respect to subsequent or previousfeature moves.

Furthermore, as shown with respect to section 1005, in some embodiments,one or more of sections 1001-1008 may include a wedge portion having acurved top surface 1025 and a flat bottom surface 1026 (opposite curvedtop surface 1025) and a wedge angle, α, therebetween, which may be anywedge angle discussed herein. With respect to curved wedge surfaces, thewedge angle may be defined with respect to a line or plane within thecurved surface, as shown, or with respect to a line or plane tangentialto curved top surface 1025. Notably, the use of a section having a wedgeportion with a curved surface causes gradual movement of IR features intemporally modified IR pattern 108 as the curved wedge portion moveswith respect to the IR feature, as shown with respect to IR featuremoves 1034. Such movement allows the IR feature to trace a line or arcedpattern thus reducing effective speckle. Such curved wedge portions maybe used in any application discussed herein such as with respect towedge portion 405 of IR lens 401, wedge portion 905 of IR lens 901, orany of sections 1001-1008.

As shown with respect to section interface 1009, by providing sections1051 and 1052 have differing wedge angles and/or directions, a greyscale effect is provided with respect to IR feature 1035 and otherfeatures of IR pattern 107 such that, as modified over time withintemporally modified IR pattern 108, more complex patterns can be createdthat can have high fill factor while still illuminating scene 121 withIR patterns. Thereby, subsequent stereoscopic matching as performed bystereoscopic module 102 has improved accuracy as more variation andgranularity is provided in the IR pattern illuminating the scene duringimage capture.

As discussed, in implementation, the rotation speed of IR lens 1000 maybe adjusted to provide different behavior in during temporally modifiedIR pattern 108 with respect to image capture by left and right cameras104, 105.

FIG. 11 is an example timing diagram for temporal IR pattern adjustmentduring image capture, arranged in accordance with at least someimplementations of the present disclosure. As shown in FIG. 11, in someembodiments, a first lens shape 1101 (move shape 1) is moved during afirst image capture 1111 (IC-1), a second lens shape 1102 (move shape 2)is moved during a second image capture 1112 (IC-2), and a third lensshape 1103 (move shape 3) is moved during a third image capture 1113(IC-3). As noted above, in the context of stereoscopic imaging, suchimage capture indicates capture of two or more images simultaneously(e.g., one image each via left and right cameras 104, 105. Lens shapes1101, 1102, 1103 may be any shapes discussed herein such as differingwedge portions, materials. Furthermore, the shape moved during imagecapture may repeat after three shapes such that first lens shape 1101 isused for a fourth image capture, second lens shape 1102 is used for afifth image capture, and so on.

For example, controller 103 may provide signals to a motor to movesections 1001-1008 of IR lens 1000 such that a first section is moved inIR path 109 during a first image capture, a second section is moved inIR path 109 during a second image capture, and so on. For example,controller 103 may provide a signal to move a wedge portion and a planarportion or another wedge portion within the IR path at a ratesynchronized to an image capture rate of scene 121 to provide only thewedge portion within the IR path during a first image capture and onlythe planar portion or the second wedge portion within the IR path duringa second image capture. However, any combination of sections 1001-1008may be moved within the IR path. Although illustrated with respect tothree different shapes being moved during image with changes betweensuch image captures, any number of shapes may be used. Notably, a singleshape may be used such that the same lens shape 1101 is moved during anyand all image captures. Furthermore, other characteristics may bechanged during or between image captures such as motion (e.g., rotation)speed. In an embodiment, As shown, sections 1001-1008 may each beprovided during an entirety of an image capture for a temporal sequenceof image captures. Notably, such techniques may provide differing IRpattern illuminations of a scene between image captures to improveand/or average out stereoscopic matching over time, which may be trackedfor example.

FIG. 12 is another example timing diagram for temporal IR patternadjustment during image capture, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 12, insome embodiments, multiple lens shapes are used to illuminate a sceneduring a single image capture. As shown, a first lens shape 1201 (moveshape 1) is in IR path 109 either partially stationary or continuallymoving and then a second lens shape 1201 is also provided in IR path 109either partially stationary or continually moving during a first imagecapture 1211 (IC-1). Then, during a second image capture 1212 (IC-2),first lens shape 1201 and second lens shape 1201 are again provided inIR path 109 either partially stationary or in a continually movingmanner. Lens shapes 1201, 1202 may be any shapes discussed herein suchas differing wedge portions, materials, etc. Furthermore, lens shapesmoved during image capture may be the same or different over time (e.g.,using a third lens shape and fourth lens shape during a third imagecapture, first lens shape 1201 and a fifth lens shape during a fourthimage capture etc.) in any combination. Furthermore, althoughillustrated with respect to two lens shapes 1201, 1202 during any singleexposure, any number may be used such as three, four, or more. Suchnumbers of lens shapes during any single exposure may be the same acrossexposures or they may change.

For example, controller 103 may provide signals to a motor to movesections 1001-1008 of IR lens 1000 such that a first section and asecond section moved in IR path 109 during a first image capture, thefirst section and a second section are again moved in IR path 109 duringa second image capture, and so on. For example, controller 103 mayprovide a signal to move a wedge portion and a planar portion or anotherwedge portion within the IR path at a rate such that both are within theIR path during the image capture. Any combination of sections 1001-1008may be moved within the IR path during a single exposure. Althoughillustrated with respect to two different shapes being moved duringimage capture, any number of shapes may be used. Such sections may haveany varying characteristics discussed herein.

Such temporal changes modify IR pattern 107 to generate temporallymodified IR pattern 108, which advantageously has varyingcharacteristics for improved stereoscopy. FIGS. 13-15 illustrateexemplary temporally modified IR patterns that may be implementedbetween image capture or within image capture to attain varying effectswithin modified IR pattern 108. Such effects may be attained byimplementation of any of IR projection systems 400, 800, 900 asdiscussed above or either of IR projection systems 1700, 1800 asdiscussed herein below.

FIG. 13 illustrates exemplary temporally modified IR patterns 1300 fordifferent image capture instances, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 13, fora first image capture 1311, multiple IR features may form a first IRpattern 1301, for a second image capture 1312, multiple IR features mayform a second IR pattern 1302, and for a third image capture 1313,multiple IR features may form a third IR pattern 1303. In an embodiment,the temporally modified IR patterns of FIG. 13 may be generated byhaving a first wedge portion (or a planar portion) in IR path 109 forfirst image capture 1311, a second wedge portion in IR path 109 forsecond image capture 1312, and a third wedge portion in IR path 109 forthird image capture 1313. Notably, the change from the first wedgeportion (or planar portion) to the second wedge portion provides for aspatial shift 1322 of the IR features from first IR pattern 1301 tosecond IR pattern 1302. That is, the change in wedge angle and/ordirection causes the IR features to jump from their positions in firstIR pattern 1301 to their positions in second IR pattern 1302. It isnoted that motion of the first wedge portion (or planar portion) or thesecond wedge portion during image capture does not cause significantshifting during exposure as the IR features are exposed to the samewedge angle during the exposure. However, the abrupt change in wedgeangle and/or direction causes spatial shift 1322 as illustrated.

Similarly, the change from the second wedge portion to the third wedgeportion provides for a spatial shift 1323 of the IR features from secondIR pattern 1302 to third IR pattern 1303. Again, the change in wedgeangle and/or direction causes the IR features to jump from theirpositions in second IR pattern 1302 to their positions in third IRpattern 1303. Such changes do not alter the density of IR featuresbetween IR patterns 1301, 1302, 1303; however their spatial locationschange significantly. Such changes between IR patterns 1301, 1302, 1303may be generated using differing wedge (or planar) portions as discussedwith respect to IR lens 1000, differing wedge (or planar) portions asdiscussed below with respect to IR lens 1700 (e.g., a similar segmentedIR lens using linear motion instead of rotational motion), or asdiscussed below with respect to dynamic transmissive IR element 1800(e.g., a solid state beam deflector or a liquid crystal display device).Furthermore, the changes between IR patterns 1301, 1302, 1303 may begenerated using the timing diagram of FIG. 11 where individual shapesare moved during each individual exposure.

FIG. 14 illustrates exemplary temporally modified IR patterns 1400 fordifferent image capture instances, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 14, forfirst image capture 1311, multiple IR features form first IR pattern1301 as discussed with respect to FIG. 13. For a second image capture1412, multiple IR features form a second IR pattern 1402 and for a thirdimage capture 1413, multiple IR features form a third IR pattern 1403.In an embodiment, the temporally modified IR patterns of FIG. 14 may begenerated by having a first wedge portion (or a planar portion) in IRpath 109 for first image capture 1311 as discussed with respect to FIG.13.

For second image capture 1412, during image capture, the first wedgeportion (or planar portion) used for image capture 1311 is provided inIR path 109 for a first time portion of second image capture 1412 and asecond wedge portion is provided in IR path for a second time portion ofsecond image capture 1412. That is, second image capture 1412 has afirst wedge portion (or planar portion) to provide the IR features asshown with respect to first image capture 1311 and, subsequently, asecond wedge portion having a different wedge angle and/or wedgedirection to make the IR features jump to new positions as shown withrespect to spatial shift 1322. The IR features are then captured in twopositions to provide second IR pattern 1402, which has twice the IRfeature density as compared to first IR pattern 1301.

Similarly, for third image capture 1413, during image capture, the firstwedge portion (or planar portion) used for image capture 1311 isprovided in IR path 109 for a first time portion of third image capture1413, the second wedge portion is provided in IR path 109 for a secondtime portion of third image capture 1413, and a third wedge portion isprovided in IR path 109 for a third time portion of third image capture1413. As with second image capture 1412, third image capture 1413 has afirst wedge portion (or planar portion) to provide the IR features asshown with respect to first image capture 1311, a second wedge portionhaving a different wedge angle and/or wedge direction to make the IRfeatures jump to new positions as shown with respect to spatial shift1322, and a third wedge portion having yet again a different wedge angleand/or wedge direction to make the IR features jump to new positions asshown with respect to spatial shift 1323. The IR features are thencaptured in three positions to provide third IR pattern 1403, which hasthree times the IR feature density as compared to first IR pattern 1301.

The change in wedge angle and/or direction causes the IR features tojump from their positions in first IR pattern 1301 to their positions insecond IR pattern 1302 and then again to their positions in third IRpattern 1303, all of which are captured during third image capture 1413.Such IR patterns 1402, 1403 may be generated using differing wedge (orplanar) portions as discussed with respect to IR lens 1000, differingwedge (or planar) portions as discussed below with respect to IR lens1700 (e.g., a similar segmented IR lens using linear motion instead ofrotational motion), or as discussed below with respect to dynamictransmissive IR element 1800 (e.g., a solid state beam deflector or aliquid crystal display device). Furthermore, the changes between IRpatterns 1301, 1302, 1303 may be generated using the timing diagram ofFIG. 12 where multiple shapes are moved in an IR path during eachindividual exposure.

FIG. 15 illustrates exemplary temporally modified IR patterns 1500 fordifferent image capture instances, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 15, forfirst image capture 1311, multiple IR features form first IR pattern1301 as discussed with respect to FIG. 13. For a second image capture1512, the multiple IR features of first IR pattern 1301 are movedsubstantially linearly, during a second image capture to form a secondIR pattern 1502 and for a third image capture 1513, the multiple IRfeatures of first IR pattern 1301 are moved substantially linearlyturned at an angle and are again moved substantially linearly in asecond (e.g., orthogonal) direction to form a third IR pattern 1403. Inan embodiment, the temporally modified IR patterns of FIG. 15 may begenerated by having a first wedge portion (or a planar portion) in IRpath 109 for first image capture 1311 as discussed with respect to FIG.13.

For second image capture 1512, during image capture, a curved wedgeportion (i.e., a wedge having one curved surface as discussed herein) ismoved in IR path 109 during image capture to move the image features inspatial shift direction 1522 during image capture. That is, the motionof the curved wedge portion during image capture causes the IR featuresof first IR pattern 1301 to provide IR pattern 1502 such that dot IRfeatures of first IR pattern 1301 provide linear IR features in secondIR pattern 1502. Such patterns are advantageous as they reduce sparkle.Spatial shift direction 1522 may be in any direction as controlled bythe selected wedge direction.

Furthermore, for third image capture 1513, during image capture, thefirst curved wedge portion is moved in IR path 109 during a first timeportion of the image capture to move the image features during imagecapture and then a second curved wedge portion having a different wedgeangle or direction or both is moved in IR path 109 during a second timeportion of the image capture. That is, the motion of the first curvedwedge portion during image capture causes the IR features of first IRpattern 1301 to move in spatial shift direction 1522 and the motion ofthe second curved wedge portion during image capture causes the IRfeatures of first IR pattern 1301 to move in spatial shift direction1523, which, as shown, may be orthogonal to spatial shift direction1522. For example, the first curved wedge portion and the second curvedwedge portion may have wedge directions that are orthogonal or atanother angle with respect to one another. Such IR patterns 1502, 1503may be generated using differing curved wedge portions as discussed withrespect to IR lens 1000, differing curved wedge portions as discussedbelow with respect to IR lens 1700 (e.g., a similar segmented IR lensusing linear motion instead of rotational motion), controlled rotationof IR lenses 401, 901 as discussed with respect to FIG. 9, or asdiscussed below with respect to dynamic transmissive IR element 1800(e.g., a solid state beam deflector or a liquid crystal display device).Furthermore, the changes between IR patterns 1301, 1302, 1303 may begenerated using the timing diagram of FIG. 12 where multiple shapes aremoved in an IR path during each individual exposure.

FIG. 16 illustrates exemplary temporally modified IR patterns 1600 fordifferent image capture instances, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 16, forfirst image capture 1311, multiple IR features form first IR pattern1301 as discussed with respect to FIG. 13. For a second image capture1612, the multiple IR features of first IR pattern 1301 are movedsubstantially circularly, during a second image capture to form a secondIR pattern 1602. In an embodiment, the temporally modified IR pattern ofsecond IR pattern 1602 is generated by having a first wedge portion thatextends across IR path 109 (please refer to FIG. 4) rotate across IRpath 109.

Thereby, as discussed with respect to FIG. 7, the paths of IR featuresof first IR pattern 1301 move in an arc or circular pattern to generateindividual circular (or arced) IR features as shown with respect to IRfeature 1611. That is, during image capture, a wedge portion is rotatedin IR path 109 during the image capture to move the image features in aspatial rotation 1622 during image capture. The motion of the wedgeportion during image capture causes the IR features of first IR pattern1301 to provide IR pattern 1602 such that dot IR features of first IRpattern 1301 provide circular IR features (or portions of circularfeatures) in second IR pattern 1602. IR pattern 1602 may be generatedusing a single wedge portion as discussed with respect to IR lens 401 asdiscussed with respect to FIG. 4, controlled rotation of IR lenses 401,901 as discussed with respect to FIG. 9, or as discussed below withrespect to dynamic transmissive IR element 1800 (e.g., a solid statebeam deflector or a liquid crystal display device). Furthermore, IRpattern 1602 may be generated using the timing diagram of FIG. 11 wherea single shape is moved in an IR path during an individual exposure.

FIG. 17 is a diagram of an example IR projection system 1700 with an IRlens having sections with differing characteristics moved laterally inan IR path, arranged in accordance with at least some implementations ofthe present disclosure. As shown in FIG. 17, IR projection system 1700is similar to IR projection system 400 with the exception that IRprojection system 1700 includes an IR lens 1701 moveable via mounts1702, 1703 that are coupled to one or two linear motors to drive IR lens1701 in direction 1704 (e.g., in a horizontal x-direction) and/or avertical y-direction (or any suitable linear directions in the x-yplane).

As shown, IR lens 1701 includes two sections 1705, 1706 having differentwedge portions 1707, 1708, respectively. In the illustrated embodiment,wedge portions 1707, 1708 have the same wedge angles but opposing wedgedirections in the x-direction. Such wedge portions 1707, 1708 providefor movement of IR features either between or during image capture asdiscussed herein. Although illustrated with two sections 1705, 1706having different wedge portions 1707, 1708 having the same wedge anglesbut opposing wedge directions in the x-direction, IR lens 1701 mayinclude any number of sections and any combination of sections ofdiffering lens materials, wedge portions (of differing wedge angleand/or wedge direction), planar portions, curved wedges, etc. asdiscussed herein with respect to IR lens 1000 and elsewhere herein.

IR lens 1701 is laterally moveable within IR path 109 to providetemporally modified IR pattern 108 as discussed herein. In anembodiment, both of wedge portions 1707, 1708 are provided within IRpath 109 during separate portions of an image capture to generate IRfeature shifts as discussed with respect to IR feature moves 1031. In anembodiment, one or both of wedge portions 1707, 1708 are curved wedgesand motion during exposure causes gradual movement of IR features intemporally modified IR pattern 108 as the curved wedge portion moveswith respect to the IR feature, as discussed with respect to IR featuremoves 1034. Notably, any effect generated by IR lens 1000 may begenerated by IR lens 1701 where IR lens 1000 is implemented using amoveable disc that provides rotational movement and IR lens 1701 isimplemented using a moveable lens (e.g., a rectangular lens) thatprovides translational movement.

FIG. 18 is a diagram of an example IR projection system 1800implementing a solid state dynamic transmissive IR element 1801,arranged in accordance with at least some implementations of the presentdisclosure. As shown in FIG. 18, IR projection system 1800 may implementIR projector 106 as disused herein and a dynamic transmissive IR element1801 within IR path 109. As shown, solid state dynamic transmissive IRelement 1801 may dynamically alter IR pattern 107 under control ofcontroller 103 (not shown). Dynamic transmissive IR element 1801 may beany suitable device capable of altering IR features of IR pattern 107within a range, θ, that allows alteration in any direction in the x-yplane. In the illustrated embodiment, dynamic transmissive IR element1801 is a solid state beam deflector having an anode 1802, a cathode1803, and a KTN crystal 1804 therebetween. As shown, anode 1802 andcathode 1803 are oriented opposite one another in the y-direction,dynamic transmissive IR element 1801 may also include a second anode andcathode pair that are oriented opposite one another in the x-direction(and additional pairs as needed). By applying voltage between anode 1802and cathode 1803 (and/or other anode-cathode pairs), the path ofradiation of IR pattern 107 is altered as shown with respect to IRradiation 1805. Thereby, temporally modified IR pattern 108 as discussedherein may be generated from IR pattern 107 as discussed herein.Notably, solid state dynamic transmissive IR element 1801 may replicateany temporally modified IR pattern 108 discussed herein under thecontrol of a signal from controller 103. Although illustrated withrespect to a solid state beam deflector, dynamic transmissive IR element1801 may include any device capable of adjusting IR pattern 107 togenerate modified IR pattern 108 having characteristics discussedherein. In some embodiments, dynamic transmissive IR element 1801 is atransmissive liquid crystal display device. In some embodiments, dynamictransmissive IR element 1801 is an adjustable elastomer lens. In someembodiments, dynamic transmissive IR element 1801 includes a 2D lensarray or a 2D mirror array.

FIG. 19 is a flow diagram illustrating an example process 1900 forperforming stereoscopic imaging, arranged in accordance with at leastsome implementations of the present disclosure. Process 1900 may includeone or more operations 1901-1903 as illustrated in FIG. 19. Process 1900may form at least part of stereoscopic imaging process. By way ofnon-limiting example, process 1900 may form at least part ofstereoscopic imaging process as performed by any device, system, orcombination thereof as discussed herein. Furthermore, process 1900 willbe described herein with reference to system 2000 of FIG. 20, which mayperform one or more operations of process 1900.

FIG. 20 is an illustrative diagram of an example system 2000 forperforming stereoscopic imaging, arranged in accordance with at leastsome implementations of the present disclosure. As shown in FIG. 20,system 2000 includes a central processor 2001, a graphics processor2002, a memory 2003, cameras 104, 105, a projection system 2004, and animage signal processor (ISP) 2005. Also as shown, central processor 2001may include or implement controller 103 and ISP 2005 may include orimplement stereo matching module 102. In the example of system 2000,memory 2003 may store image data, depth images, control signals, and/orany other data as discussed herein.

As shown, in some embodiments, controller 103 is implemented by centralprocessor 2001 and stereo matching module 102 is implemented by ISP2005. In some embodiments, both of stereo matching module 102 andcontroller 103 are implemented by ISP 2005. In some embodiments, both ofstereo matching module 102 and controller 103 are implemented by centralprocessor 2001. In some embodiments, one or both of stereo matchingmodule 102 and controller 103 are implemented by graphics processor2002.

Graphics processor 2002 may include any number and type of graphicsprocessing units that may provide the operations discussed herein. Forexample, graphics processor 2002 may include circuitry dedicated tomanipulate image data, or the like obtained from memory 2003. ISP 2005may include any number and type of image signal or image processingunits that may provide the operations discussed. For example, ISP 2005may include circuitry dedicated to manipulate image data such as an ASICor the like. Central processor 2001 may include any number and type ofprocessing units or modules that may provide control and other highlevel functions for system 2000 and/or provide the operations discussedherein. Memory 2003 may be any type of memory such as volatile memory(e.g., Static Random Access Memory (SRAM), Dynamic Random Access Memory(DRAM), etc.) or non-volatile memory (e.g., flash memory, etc.), and soforth. In a non-limiting example, memory 2003 may be implemented bycache memory.

In an embodiment, one or both or portions of stereo matching module 102and controller 103 are implemented via an execution unit (EU) of ISP2005 or graphics processor 2002. The EU may include, for example,programmable logic or circuitry such as a logic core or cores that mayprovide a wide array of programmable logic functions. In an embodiment,one or both or portions of stereo matching module 102 and controller 103are implemented via dedicated hardware such as fixed function circuitryor the like of ISP 2005 or graphics processor 2002. Fixed functioncircuitry may include dedicated logic or circuitry and may provide a setof fixed function entry points that may map to the dedicated logic for afixed purpose or function.

As discussed herein, cameras 104, 105 attain image data of a sceneincluding a temporally modified IR and/or visible light pattern fromprojection system 2004. Projection system 2004 may be any projectionsystem discussed herein such as any of projection systems 400, 800, 900,1700, 1800 configured to emit IR radiation, visible light, or both. Inan embodiment, one or both of cameras 104, 105 include a CMOS sensors.Cameras 104, 105 may be color cameras, monochrome cameras, black andwhite cameras, or IR cameras.

Returning to discussion of FIG. 19, process 1900 begins at operation1901, where a projector is controlled to project a (static) pattern (IRor visible light or a combination thereof) toward a scene. For example,IR projector 106 under control of controller 103 via control signals 113may project an IR pattern toward a scene such that the IR patternincludes any number and pattern of IR features, which may be dots, linesegments, etc.

Processing continues at operation 1902, where a dynamic transmissiveelement is controlled to temporally modify the static pattern before itreaches the scene. The dynamic transmissive element may include anymotor controlled lens or other dynamic transmissive element discussedherein. In an embodiment, the dynamic transmissive element is an opticalpath between the projector and the scene. In an embodiment, the dynamictransmissive element is in a direct path between the projector and thescene such that the direct path is linearly between the projector andthe scene. For example, the dynamic transmissive element may be coupledto a controller that signals the dynamic transmissive element duringillumination of the scene by the projector. As discussed, the dynamictransmissive element is to temporally modify the static pattern from theprojector.

In an embodiment, the dynamic transmissive element is a solid state beamdeflector. In an embodiment, the dynamic transmissive element is atransmissive liquid crystal display device. In an embodiment, thecontroller is to provide a signal to the dynamic transmissive element toprovide feature movement and constant feature density of features of thepattern between temporally adjacent images captured by the first andsecond image capture devices. For example, the dynamic transmissiveelement may provide first features in a first pattern during a firstimage capture and second features in a second pattern during a secondimage capture such that the features are at different locations in thefirst and second patterns but have the same feature density.

In an embodiment, the controller is to provide a signal to the dynamictransmissive element to provide increased feature density of theprojected features in a captured image relative to the pattern. Forexample, the dynamic transmissive element may provide first features ina first I pattern during a first image capture and second features in asecond pattern during a second image capture such that the secondpattern has an increased feature density with respect to the firstpattern. For example, the features may be caused to jump to newlocations during the image capture.

In an embodiment, the controller is to provide a signal to the dynamicelement to provide movement of a feature of the pattern during imagecapture by the first and second image capture devices. For example, thefeatures of the pattern may trace a linear path or a circular path asdiscussed herein. In an embodiment, the controller is to provide asignal to the dynamic transmissive element to provide an angled movementof a feature of the pattern during image capture by the first and secondimage capture devices. For example, the features of the pattern maytrace a first linear path and then a second linear path substantiallyorthogonal to the first linear path as discussed herein.

In some embodiments, the dynamic transmissive element includes a lensmoveably mounted in a path between the projector and the scene such thatthe IR lens has a wedge portion having a wedge angle and such that theIR lens being moveably mounted in the IR path includes the wedge portionof the IR lens being moveable within the IR path. In some embodiments,the wedge angle is not less than 0.1 degrees, not less than 0.2 degrees,not less than 0.25 degrees, not less than 0.5 degrees, not less than 1degree, or not less than 2 degrees.

In an embodiment, in any of the moveable positions of the lens position,the wedge portion extends across a centerline of the optical or IR pathcorresponding to a centerline of the scene. In an embodiment, the lensis a disc, the lens being moveably mounted in the path includes the lensdisc being rotatably mounted at a center point of the disc, and thecenter point of the disc is within the wedge portion and aligned withthe centerline. In some embodiments, the dynamic transmissive elementincludes a second lens disc rotatably mounted substantially at a centerpoint of the second lens disc such that the second lens disc isindependently moveable with respect to the lens disc. In an embodiment,the lens being moveably mounted in the optical path comprises the lensbeing linearly movable substantially orthogonal to the centerline of thepath.

In an embodiment, the lens further includes a planar portion or a secondwedge portion at a second wedge angle such that the wedge portionincludes a first flat surface and a second flat surface opposite thefirst flat surface and angled with respect to the first flat surface atthe wedge angle, and such that the controller is to provide a signal tomove the wedge portion and the planar portion or the second wedgeportion within the optical path at a rate synchronized to an imagecapture rate of the scene to provide only the wedge portion within thepath during a first image capture and only the planar portion or thesecond wedge portion within the path during a second image capture.

In an embodiment, the lens further includes a planar portion or a secondwedge portion at a second wedge angle such that the wedge portionincludes a first flat surface and a second flat surface opposite thefirst flat surface and angled with respect to the first flat surface atthe wedge angle, and such that the controller is to provide a signal tomove both the wedge portion and the planar portion or the second wedgeportion within the path during an image capture of the scene to provideincreased feature density of the projected features relative to thepattern in a captured image.

In an embodiment, the wedge portion comprises a flat surface and acurved surface opposite the flat surface and angled with respect to theflat surface at the wedge angle, and the controller is to provide asignal to move the wedge portion within the path during an image captureof the scene to provide movement of a feature of the pattern during theimage capture. In an embodiment, the lens further includes a secondwedge portion at a second wedge angle such that the wedge portion andthe second wedge portion each include a flat surface and a curvedsurface opposite the flat surface and angled with respect to the flatsurface at the wedge angle and the second wedge angle, respectively, andsuch that the controller is to provide a signal to move both the wedgeportion and the second wedge portion within the path during an imagecapture of the scene to provide an angled movement of a feature of thepattern during the image capture.

Processing continues at operation 1903, where image data correspondingto the scene as illuminated by the pattern are captured using first andsecond image capture devices. For example, the image capture devices maybe controlled by the controller to attain image data of the scene at anynumber of image capture instances.

In the discussion of FIG. 19, the projector may emit visible light, IRradiation, or both and, correspondingly the lenses, dynamic transmissiveIR elements, etc. may act upon visible light, IR radiation, or both.Furthermore, the features and patterns may include visible light, IRradiation, or both acting upon a scene. Process 1900 may be repeated anynumber of times either in series or in parallel for any number of imagecapture operations or the like. For example, process 1900 provides forimproved temporally modified IR texture patterns during image capturefor improved stereoscopy.

Various components of the systems described herein may be implemented insoftware, firmware, and/or hardware and/or any combination thereof. Forexample, various components of the systems discussed herein may beprovided, at least in part, by hardware of a computing System-on-a-Chip(SoC) such as may be found in a computing system such as, for example, asmartphone. Those skilled in the art may recognize that systemsdescribed herein may include additional components that have not beendepicted in the corresponding figures. For example, the systemsdiscussed herein may include additional components such ascommunications modules and the like that have not been depicted in theinterest of clarity.

While implementation of the example processes discussed herein mayinclude the undertaking of all operations shown in the orderillustrated, the present disclosure is not limited in this regard and,in various examples, implementation of the example processes herein mayinclude only a subset of the operations shown, operations performed in adifferent order than illustrated, or additional operations.

In addition, any one or more of the operations discussed herein may beundertaken in response to instructions provided by one or more computerprogram products. Such program products may include signal bearing mediaproviding instructions that, when executed by, for example, a processor,may provide the functionality described herein. The computer programproducts may be provided in any form of one or more machine-readablemedia. Thus, for example, a processor including one or more graphicsprocessing unit(s) or processor core(s) may undertake one or more of theblocks of the example processes herein in response to program codeand/or instructions or instruction sets conveyed to the processor by oneor more machine-readable media. In general, a machine-readable mediummay convey software in the form of program code and/or instructions orinstruction sets that may cause any of the devices and/or systemsdescribed herein to implement at least portions of the systems discussedherein or any other module or component as discussed herein.

As used in any implementation described herein, the term “module” or“component” refers to any combination of software logic, firmware logic,hardware logic, and/or circuitry configured to provide the functionalitydescribed herein. The software may be embodied as a software package,code and/or instruction set or instructions, and “hardware”, as used inany implementation described herein, may include, for example, singly orin any combination, hardwired circuitry, programmable circuitry, statemachine circuitry, fixed function circuitry, execution unit circuitry,and/or firmware that stores instructions executed by programmablecircuitry. The modules may, collectively or individually, be embodied ascircuitry that forms part of a larger system, for example, an integratedcircuit (IC), system on-chip (SoC), and so forth.

FIG. 21 is an illustrative diagram of an example system 2100, arrangedin accordance with at least some implementations of the presentdisclosure. In various implementations, system 2100 may be a mobilesystem although system 2100 is not limited to this context. System 2100may implement and/or perform any modules or techniques discussed herein.For example, system 2100 may be incorporated into a personal computer(PC), sever, laptop computer, ultra-laptop computer, tablet, touch pad,portable computer, handheld computer, palmtop computer, personal digitalassistant (PDA), cellular telephone, combination cellular telephone/PDA,television, smart device (e.g., smartphone, smart tablet or smarttelevision), mobile internet device (MID), messaging device, datacommunication device, cameras (e.g. point-and-shoot cameras, super-zoomcameras, digital single-lens reflex (DSLR) cameras), and so forth. Insome examples, system 2100 may be implemented via a cloud computingenvironment.

In various implementations, system 2100 includes a platform 2102 coupledto a display 2120. Platform 2102 may receive content from a contentdevice such as content services device(s) 2130 or content deliverydevice(s) 2140 or other similar content sources. A navigation controller2150 including one or more navigation features may be used to interactwith, for example, platform 2102 and/or display 2120. Each of thesecomponents is described in greater detail below.

In various implementations, platform 2102 may include any combination ofa chipset 2105, processor 2110, memory 2112, antenna 2113, storage 2114,graphics subsystem 2115, applications 2116 and/or radio 2118. Chipset2105 may provide intercommunication among processor 2110, memory 2112,storage 2114, graphics subsystem 2115, applications 2116 and/or radio2118. For example, chipset 2105 may include a storage adapter (notdepicted) capable of providing intercommunication with storage 2114.

Processor 2110 may be implemented as a Complex Instruction Set Computer(CISC) or Reduced Instruction Set Computer (RISC) processors, x86instruction set compatible processors, multi-core, or any othermicroprocessor or central processing unit (CPU). In variousimplementations, processor 2110 may be dual-core processor(s), dual-coremobile processor(s), and so forth.

Memory 2112 may be implemented as a volatile memory device such as, butnot limited to, a Random Access Memory (RAM), Dynamic Random AccessMemory (DRAM), or Static RAM (SRAM).

Storage 2114 may be implemented as a non-volatile storage device suchas, but not limited to, a magnetic disk drive, optical disk drive, tapedrive, an internal storage device, an attached storage device, flashmemory, battery backed-up SDRAM (synchronous DRAM), and/or a networkaccessible storage device. In various implementations, storage 2114 mayinclude technology to increase the storage performance enhancedprotection for valuable digital media when multiple hard drives areincluded, for example.

Graphics subsystem 2115 may perform processing of images such as stillor video for display. Graphics subsystem 2115 may be a graphicsprocessing unit (GPU) or a visual processing unit (VPU), for example. Ananalog or digital interface may be used to communicatively couplegraphics subsystem 2115 and display 2120. For example, the interface maybe any of a High-Definition Multimedia Interface, DisplayPort, wirelessHDMI, and/or wireless HD compliant techniques. Graphics subsystem 2115may be integrated into processor 2110 or chipset 2105. In someimplementations, graphics subsystem 2115 may be a stand-alone devicecommunicatively coupled to chipset 2105.

The graphics and/or video processing techniques described herein may beimplemented in various hardware architectures. For example, graphicsand/or video functionality may be integrated within a chipset.Alternatively, a discrete graphics and/or video processor may be used.As still another implementation, the graphics and/or video functions maybe provided by a general purpose processor, including a multi-coreprocessor. In further embodiments, the functions may be implemented in aconsumer electronics device.

Radio 2118 may include one or more radios capable of transmitting andreceiving signals using various suitable wireless communicationstechniques. Such techniques may involve communications across one ormore wireless networks. Example wireless networks include (but are notlimited to) wireless local area networks (WLANs), wireless personal areanetworks (WPANs), wireless metropolitan area network (WMANs), cellularnetworks, and satellite networks. In communicating across such networks,radio 2118 may operate in accordance with one or more applicablestandards in any version.

In various implementations, display 2120 may include any television typemonitor or display. Display 2120 may include, for example, a computerdisplay screen, touch screen display, video monitor, television-likedevice, and/or a television. Display 2120 may be digital and/or analog.In various implementations, display 2120 may be a holographic display.Also, display 2120 may be a transparent surface that may receive avisual projection. Such projections may convey various forms ofinformation, images, and/or objects. For example, such projections maybe a visual overlay for a mobile augmented reality (MAR) application.Under the control of one or more software applications 2116, platform2102 may display user interface 2122 on display 2120.

In various implementations, content services device(s) 2130 may behosted by any national, international and/or independent service andthus accessible to platform 2102 via the Internet, for example. Contentservices device(s) 2130 may be coupled to platform 2102 and/or todisplay 2120. Platform 2102 and/or content services device(s) 2130 maybe coupled to a network 2160 to communicate (e.g., send and/or receive)media information to and from network 2160. Content delivery device(s)2140 also may be coupled to platform 2102 and/or to display 2120.

In various implementations, content services device(s) 2130 may includea cable television box, personal computer, network, telephone, Internetenabled devices or appliance capable of delivering digital informationand/or content, and any other similar device capable ofuni-directionally or bi-directionally communicating content betweencontent providers and platform 2102 and/display 2120, via network 2160or directly. It will be appreciated that the content may be communicateduni-directionally and/or bi-directionally to and from any one of thecomponents in system 2100 and a content provider via network 2160.Examples of content may include any media information including, forexample, video, music, medical and gaming information, and so forth.

Content services device(s) 2130 may receive content such as cabletelevision programming including media information, digital information,and/or other content. Examples of content providers may include anycable or satellite television or radio or Internet content providers.The provided examples are not meant to limit implementations inaccordance with the present disclosure in any way.

In various implementations, platform 2102 may receive control signalsfrom navigation controller 2150 having one or more navigation features.The navigation features of navigation controller 2150 may be used tointeract with user interface 2122, for example. In various embodiments,navigation controller 2150 may be a pointing device that may be acomputer hardware component (specifically, a human interface device)that allows a user to input spatial (e.g., continuous andmulti-dimensional) data into a computer. Many systems such as graphicaluser interfaces (GUI), and televisions and monitors allow the user tocontrol and provide data to the computer or television using physicalgestures.

Movements of the navigation features of navigation controller 2150 maybe replicated on a display (e.g., display 2120) by movements of apointer, cursor, focus ring, or other visual indicators displayed on thedisplay. For example, under the control of software applications 2116,the navigation features located on navigation controller 2150 may bemapped to virtual navigation features displayed on user interface 2122,for example. In various embodiments, navigation controller 2150 may notbe a separate component but may be integrated into platform 2102 and/ordisplay 2120. The present disclosure, however, is not limited to theelements or in the context shown or described herein.

In various implementations, drivers (not shown) may include technologyto enable users to instantly turn on and off platform 2102 like atelevision with the touch of a button after initial boot-up, whenenabled, for example. Program logic may allow platform 2102 to streamcontent to media adaptors or other content services device(s) 2130 orcontent delivery device(s) 2140 even when the platform is turned “off”In addition, chipset 2105 may include hardware and/or software supportfor 5.1 surround sound audio and/or high definition 7.1 surround soundaudio, for example. Drivers may include a graphics driver for integratedgraphics platforms. In various embodiments, the graphics driver mayinclude a peripheral component interconnect (PCI) Express graphics card.

In various implementations, any one or more of the components shown insystem 2100 may be integrated. For example, platform 2102 and contentservices device(s) 2130 may be integrated, or platform 2102 and contentdelivery device(s) 2140 may be integrated, or platform 2102, contentservices device(s) 2130, and content delivery device(s) 2140 may beintegrated, for example. In various embodiments, platform 2102 anddisplay 2120 may be an integrated unit. Display 2120 and content servicedevice(s) 2130 may be integrated, or display 2120 and content deliverydevice(s) 2140 may be integrated, for example. These examples are notmeant to limit the present disclosure.

In various embodiments, system 2100 may be implemented as a wirelesssystem, a wired system, or a combination of both. When implemented as awireless system, system 2100 may include components and interfacessuitable for communicating over a wireless shared media, such as one ormore antennas, transmitters, receivers, transceivers, amplifiers,filters, control logic, and so forth. An example of wireless sharedmedia may include portions of a wireless spectrum, such as the RFspectrum and so forth. When implemented as a wired system, system 2100may include components and interfaces suitable for communicating overwired communications media, such as input/output (I/O) adapters,physical connectors to connect the I/O adapter with a correspondingwired communications medium, a network interface card (NIC), disccontroller, video controller, audio controller, and the like. Examplesof wired communications media may include a wire, cable, metal leads,printed circuit board (PCB), backplane, switch fabric, semiconductormaterial, twisted-pair wire, co-axial cable, fiber optics, and so forth.

Platform 2102 may establish one or more logical or physical channels tocommunicate information. The information may include media informationand control information. Media information may refer to any datarepresenting content meant for a user. Examples of content may include,for example, data from a voice conversation, videoconference, streamingvideo, electronic mail (“email”) message, voice mail message,alphanumeric symbols, graphics, image, video, text and so forth. Datafrom a voice conversation may be, for example, speech information,silence periods, background noise, comfort noise, tones and so forth.Control information may refer to any data representing commands,instructions or control words meant for an automated system. Forexample, control information may be used to route media informationthrough a system, or instruct a node to process the media information ina predetermined manner. The embodiments, however, are not limited to theelements or in the context shown or described in FIG. 21.

As described above, system 2100 may be embodied in varying physicalstyles or form factors. FIG. 22 illustrates an example small form factordevice 2200, arranged in accordance with at least some implementationsof the present disclosure. In some examples, system 2100 may beimplemented via device 2200. In other examples, other systems discussedherein or portions thereof may be implemented via device 2200. Invarious embodiments, for example, device 2200 may be implemented as amobile computing device a having wireless capabilities. A mobilecomputing device may refer to any device having a processing system anda mobile power source or supply, such as one or more batteries, forexample.

Examples of a mobile computing device may include a personal computer(PC), laptop computer, ultra-laptop computer, tablet, touch pad,portable computer, handheld computer, palmtop computer, personal digitalassistant (PDA), cellular telephone, combination cellular telephone/PDA,smart device (e.g., smartphone, smart tablet or smart mobiletelevision), mobile internet device (MID), messaging device, datacommunication device, cameras (e.g. point-and-shoot cameras, super-zoomcameras, digital single-lens reflex (DSLR) cameras), and so forth.

Examples of a mobile computing device also may include computers thatare arranged to be worn by a person, such as a wrist computers, fingercomputers, ring computers, eyeglass computers, belt-clip computers,arm-band computers, shoe computers, clothing computers, and otherwearable computers. In various embodiments, for example, a mobilecomputing device may be implemented as a smartphone capable of executingcomputer applications, as well as voice communications and/or datacommunications. Although some embodiments may be described with a mobilecomputing device implemented as a smartphone by way of example, it maybe appreciated that other embodiments may be implemented using otherwireless mobile computing devices as well. The embodiments are notlimited in this context.

As shown in FIG. 22, device 2200 may include a housing with a front 2201and a back 2202. Device 2200 includes a display 2204, an input/output(I/O) device 2206, camera 104, camera 105, infrared transmitter 204, andan integrated antenna 2208. Device 2200 also may include navigationfeatures 2212. I/O device 2206 may include any suitable I/O device forentering information into a mobile computing device. Examples for I/Odevice 2206 may include an alphanumeric keyboard, a numeric keypad, atouch pad, input keys, buttons, switches, microphones, speakers, voicerecognition device and software, and so forth. Information also may beentered into device 2200 by way of microphone (not shown), or may bedigitized by a voice recognition device. As shown, device 2200 mayinclude cameras 104, 105 and a flash 2210 integrated into back 2202 (orelsewhere) of device 2200. In other examples, cameras 104, 105 and flash2210 may be integrated into front 2201 of device 2200 or both front andback sets of cameras may be provided. Cameras 104, 105 and a flash 2210may be components of a camera module to originate image data with IRpattern or texture that may be processed into an image or streamingvideo that is output to display 2204 and/or communicated remotely fromdevice 2200 via antenna 2208 for example.

Various embodiments may be implemented using hardware elements, softwareelements, or a combination of both. Examples of hardware elements mayinclude processors, microprocessors, circuits, circuit elements (e.g.,transistors, resistors, capacitors, inductors, and so forth), integratedcircuits, application specific integrated circuits (ASIC), programmablelogic devices (PLD), digital signal processors (DSP), field programmablegate array (FPGA), logic gates, registers, semiconductor device, chips,microchips, chip sets, and so forth. Examples of software may includesoftware components, programs, applications, computer programs,application programs, system programs, machine programs, operatingsystem software, middleware, firmware, software modules, routines,subroutines, functions, methods, procedures, software interfaces,application program interfaces (API), instruction sets, computing code,computer code, code segments, computer code segments, words, values,symbols, or any combination thereof. Determining whether an embodimentis implemented using hardware elements and/or software elements may varyin accordance with any number of factors, such as desired computationalrate, power levels, heat tolerances, processing cycle budget, input datarates, output data rates, memory resources, data bus speeds and otherdesign or performance constraints.

One or more aspects of at least one embodiment may be implemented byrepresentative instructions stored on a machine-readable medium whichrepresents various logic within the processor, which when read by amachine causes the machine to fabricate logic to perform the techniquesdescribed herein. Such representations, known as IP cores may be storedon a tangible, machine readable medium and supplied to various customersor manufacturing facilities to load into the fabrication machines thatactually make the logic or processor.

While certain features set forth herein have been described withreference to various implementations, this description is not intendedto be construed in a limiting sense. Hence, various modifications of theimplementations described herein, as well as other implementations,which are apparent to persons skilled in the art to which the presentdisclosure pertains are deemed to lie within the spirit and scope of thepresent disclosure.

It will be recognized that the embodiments are not limited to theembodiments so described, but can be practiced with modification andalteration without departing from the scope of the appended claims. Forexample, the above embodiments may include specific combination offeatures. However, the above embodiments are not limited in this regardand, in various implementations, the above embodiments may include theundertaking only a subset of such features, undertaking a differentorder of such features, undertaking a different combination of suchfeatures, and/or undertaking additional features than those featuresexplicitly listed. The scope of the embodiments should, therefore, bedetermined with reference to the appended claims, along with the fullscope of equivalents to which such claims are entitled.

What is claimed is:
 1. A stereoscopic imaging device comprising: aprojector to project a pattern toward a scene; a lens moveably mountedin an optical path between the projector and the scene, wherein the lenscomprises a wedge portion having a wedge angle and a planar portion or asecond wedge portion, and wherein the lens being moveably mounted in theoptical path comprises the wedge portion and the planar portion or thesecond wedge portion of the lens being moveable within the optical path;and a controller to provide a signal to move the wedge portion and theplanar portion or the second wedge portion within the optical path at arate synchronized to an image capture rate of the scene to provide onlythe wedge portion of the lens within the optical path during a firstimage capture and only the planar portion or the second wedge portion ofthe lens within the optical path during a second image capture.
 2. Thestereoscopic imaging device of claim 1, wherein the projector is an IRprojector to project an IR pattern toward the scene and the wedge angleis not less than 0.25 degrees.
 3. The stereoscopic imaging device ofclaim 1, wherein the lens comprises a lens disc and the lens beingmoveably mounted in the optical path comprises the lens disc beingrotatably mounted substantially at a center point of the lens disc. 4.The stereoscopic imaging device of claim 3, further comprising a secondlens disc rotatably mounted substantially at a center point of thesecond lens disc, wherein the second lens disc is independently moveablewith respect to the lens disc.
 5. The stereoscopic imaging device ofclaim 1, wherein the lens being moveably mounted in the optical pathcomprises the lens being linearly movable substantially orthogonal tothe centerline of the optical path.
 6. The stereoscopic imaging deviceof claim 1, wherein the wedge portion comprises a first flat surface anda second flat surface opposite the first flat surface and angled withrespect to the first flat surface at the wedge angle.
 7. Thestereoscopic imaging device of claim 1, wherein the controller is toprovide a second signal to move the wedge portion within the opticalpath during the first image capture to provide movement of a feature ofthe pattern during the first image capture.
 8. The stereoscopic imagingdevice of claim 1, further comprising: first and second image capturedevices to attain image data corresponding to the scene as illuminatedby the IR pattern, wherein image capture by the first and second imagecapture devices is controlled via the controller.
 9. At least onenon-transitory machine readable medium comprising a plurality ofinstructions that, in response to being executed on a device, cause thedevice to perform stereoscopic imaging by: controlling an infrared (IR)projector to project a static IR pattern toward a scene; controlling alens, the lens comprising a wedge portion having a wedge angle and aplanar portion or a second wedge portion, moveably mounted in an IR pathbetween the IR projector and the scene to move the wedge portion and theplanar portion or the second wedge within the IR path, said controllingcomprising providing a signal to move the wedge portion and the planarportion or the second wedge portion within the optical path at a ratesynchronized to an image capture rate of the scene to provide only thewedge portion of the lens within the optical path during a first imagecapture and only the planar portion or the second wedge portion of thelens within the optical path during a second image capture; andcapturing, via first and second image capture devices, image datacorresponding to the scene as illuminated by the IR pattern during thefirst and second image captures.
 10. The non-transitory machine readablemedium of claim 9, wherein the lens comprises a lens disc and the lensbeing moveably mounted in the IR path comprises the lens disc beingrotatably mounted substantially at a center point of the lens disc. 11.The non-transitory machine readable medium of claim 9, whereincontrolling the lens further comprises providing a second signal to movethe wedge portion within the optical path during the first image captureto provide feature movement during the first image capture.
 12. Thenon-transitory machine readable medium of claim 9, wherein the lensbeing moveably mounted in the optical path comprises the lens beinglinearly movable substantially orthogonal to the centerline of theoptical path.
 13. The non-transitory machine readable medium of claim 9,wherein the wedge portion comprises a first flat surface and a secondflat surface opposite the first flat surface and angled with respect tothe first flat surface at the wedge angle, and wherein the wedge angleis not less than 0.25 degrees.
 14. A stereoscopic imaging devicecomprising: a projector to project a pattern toward a scene; a lens discmoveably mounted, substantially at a center of the lens disc, to an axisthat is outside of an optical path between the projector and the scene,wherein the lens disc is moveable about the axis such that, at anyposition of the lens disc about the axis, part of the lens disc iswithin the optical path and another pat of the lens disc is outside theoptical path, and wherein the lens disc comprises a wedge portion havinga wedge angle; and a controller to provide a signal to move the lensdisc within the optical path at a rate synchronized to an image capturerate of the scene to provide a first portion of the lens disc within theoptical path during a first image capture and a second portion of thelens disc within the optical path during a second image capture.
 15. Thestereoscopic imaging device of claim 14, wherein the projector is an IRprojector to project an IR pattern toward the scene and the wedge angleis not less than 0.25 degrees.
 16. The stereoscopic imaging device ofclaim 14, further comprising a second lens disc rotatably mountedsubstantially at a center point of the second lens disc, wherein thesecond lens disc is independently moveable with respect to the lensdisc.
 17. The stereoscopic imaging device of claim 14, wherein the firstportion comprises the wedge portion and the wedge portion is provided inthe optical path during the first image capture but not during thesecond image capture.
 18. The stereoscopic imaging device of claim 17,wherein a second wedge portion having a second wedge angle is alsoprovided in the optical path during the first image capture.
 19. Thestereoscopic imaging device of claim 17, wherein the wedge portioncomprises a flat surface and a curved surface opposite the flat surfaceand angled with respect to the flat surface at the wedge angle, andwherein the controller is to provide a second signal to move the wedgeportion within the optical path during the first image capture of thescene to provide movement of a feature of the pattern during the imagecapture.
 20. The stereoscopic imaging device of claim 14, furthercomprising: first and second image capture devices to attain image datacorresponding to the scene as illuminated by the IR pattern, whereinimage capture by the first and second image capture devices iscontrolled via the controller.